WO2017080028A1 - Unmanned aerial vehicle system for positioning source of nuclear radiation - Google Patents
Unmanned aerial vehicle system for positioning source of nuclear radiation Download PDFInfo
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- WO2017080028A1 WO2017080028A1 PCT/CN2015/098593 CN2015098593W WO2017080028A1 WO 2017080028 A1 WO2017080028 A1 WO 2017080028A1 CN 2015098593 W CN2015098593 W CN 2015098593W WO 2017080028 A1 WO2017080028 A1 WO 2017080028A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01T—MEASUREMENT OF NUCLEAR OR X-RADIATION
- G01T1/00—Measuring X-radiation, gamma radiation, corpuscular radiation, or cosmic radiation
- G01T1/16—Measuring radiation intensity
- G01T1/169—Exploration, location of contaminated surface areas
Definitions
- nuclear radioactive sources are increasingly used in industrial, agricultural, medical, scientific research and education.
- the importance of monitoring the nuclear radiation environment has become increasingly prominent, and the public's awareness and attention to radiation protection is also growing.
- Many countries attach great importance to the monitoring of radiation environment, and have established a continuous monitoring system for radiation environment for early warning and accident monitoring of nuclear accidents.
- the monitoring data is an important basis for accident handling and appeasement of the masses.
- Wireless mobile data collection in nuclear radiation environments is of great importance for environmental monitoring of unknown radioactive intensity.
- monitoring personnel are often used to monitor the site in the case of protection, or to load large-scale monitoring equipment on mobile tools such as automobiles. Although these monitoring methods are protected by protective equipment, the effect is not good. People often have excessive radiation, causing casualties.
- the flight control unit controls the drone to fly to the nuclear radiation area according to the autonomous flight path, and controls the drone to hover over the nuclear radiation area;
- a solar lens is disposed on each of the wings of the drone, and a solar cell is disposed under each solar lens.
- a solar lens is disposed on each of the wings of the drone, and a solar cell is disposed under each solar lens.
- the metal tube is filled with a rare gas, and a voltage lower than a gas breakdown voltage in the metal tube is applied between the metal tube wall and the wire electrode.
- the UAV system for positioning a nuclear radiation source detects a radioactive source in a nuclear radiation region by detecting a nuclear radiation signal of a nuclear radiation region by a nuclear radiation sensor mounted on the unmanned aerial vehicle. Positioning and accurately locating the geographical location information of the nuclear radiation source through the positioning unit, so that the nuclear radiation prevention and control center can accurately find the radiation source detecting the nuclear radiation area, and conveniently repair or take the radiation source in the nuclear radiation area. Measures such as isolation.
- FIG. 2 is a schematic diagram showing the internal structure of a preferred embodiment of a nuclear radiation positioning device in an unmanned aerial vehicle system for positioning a nuclear radiation source according to the present invention.
- a solar lens 40 is disposed on each of the wings of the drone 10, and a solar cell 50 is disposed under each solar lens 40.
- the solar lens 40 may be a Fresnel. Lens system for collecting solar energy.
- the solar cell 50 converts solar energy into electrical energy and continuously supplies power to the electric engine of the drone 10, which can meet the requirements of the drone 10 for long-distance flight.
- FIG. 2 is a schematic diagram showing the internal structure of a preferred embodiment of the nuclear radiation locating device 20 in the unmanned aerial vehicle system for positioning a nuclear radiation source according to the present invention.
- the nuclear radiation positioning device 20 includes, but is not limited to, the processing unit 200, the autonomous flight unit 201, the flight control unit 202, the nuclear radiation sensor 203, the positioning unit 204, the image acquisition unit 205, and the communication unit 206.
- the autonomous flight unit 201, the flight control unit 202, the nuclear radiation sensor 203, the positioning unit 204, the image acquisition unit 205, and the communication unit 206 are all connected to the processing unit 201.
- the processing unit 200 is a microprocessor, a data processing chip, or a microcontroller (MCU) having a data processing function.
- the processing unit 200 is capable of determining a nuclear radiation source within the nuclear radiation region based on the nuclear radiation signal sensed by the nuclear radiation sensor 203.
- the processing unit 200 determines the position of the nuclear radiation source according to the signal intensity and the signal direction of the nuclear radiation signal, and turns on the positioning unit 204 to accurately locate the geographical position information of the nuclear radiation source, including the latitude information and the longitude information, thereby accurately positioning Nuclear radiation source.
- the positioning unit 204 is a Beidou positioning unit or other chip with a positioning function, which can accurately locate the geographical location information of the nuclear radiation source.
- the image acquisition unit 205 is a 360-degree panoramic camera or a 360-degree rotating camera for acquiring a panoramic image frame of a nuclear radiation area.
- the communication unit 206 is a wireless communication interface with remote wireless communication functions, for example, a communication interface supporting communication technologies such as GSM, GPRS, CDMA, and WiMAX, and capable of wirelessly communicating with the Beidou navigation system of the nuclear radiation prevention and control center. .
- the communication unit 206 sends the geographic location information of the nuclear radiation source and the panoramic image of the nuclear radiation area to the nuclear radiation prevention and control center for nuclear radiation warning, so that the nuclear radiation prevention and control center can emit the nuclear radiation source in the nuclear radiation area. Take measures such as overhaul or isolation.
- the processing unit 201 feeds back the geographical location information of the nuclear radiation source to the nuclear radiation prevention and control center through the communication unit 206, so that the nuclear radiation prevention and control center accurately finds the unknown radiation source in the nuclear radiation area, so as to Measures such as maintenance or isolation of radioactive sources in the radiation area.
Abstract
An unmanned aerial vehicle system (1) for positioning a source of nuclear radiation, comprising an unmanned aerial vehicle (10) and a rotary pan-tilt (30) disposed on the bottom of the unmanned aerial vehicle (10), wherein the rotary pan-tilt (30) is equipped with a nuclear radiation positioning means (20) which comprises a processing unit (200), an autonomous flying unit (201), a flying control unit (202), a nuclear radiation sensor (203), and a positioning unit (204). The autonomous flying unit (201) sets an autonomous flight route to a nuclear radiation area for the unmanned aerial vehicle (10). The flying control unit (202) controls the unmanned aerial vehicle (10) to fly to the nuclear radiation area according to the autonomous flight route, and controls the unmanned aerial vehicle (10) to hover above the nuclear radiation area. The nuclear radiation sensor (203) monitors nuclear radiation signals in the nuclear radiation area. The processing unit (200) determines the position of the source of the nuclear radiation according to the intensity and the direction of the radiation signals, and starts the positioning unit (204) to determine geographical location information of the source of the nuclear radiation.
Description
技术领域Technical field
本实用新型涉及无人机侦测技术领域，尤其涉及一种用于定位核辐射放射源的无人机系统。The utility model relates to the technical field of unmanned aerial vehicle detection, in particular to an unmanned aerial vehicle system for locating a nuclear radiation radiation source.
背景技术Background technique
随着核能和核技术的开发和利用，核放射源在工业、农业、医疗、科研和教育等领域的应用日益广泛。然而，随着核污染现象的不断发生，核辐射环境的监测重要性不断突显，公众对辐射防护的意识和关注程度也在不断发展。许多国家都十分重视辐射环境的监测工作，并为之建立了用于核事故的早期预警和事故监测的辐射环境连续监测系统，其监测数据是事故处理和安抚群众的重要依据。核辐射环境的无线可移动数据采集对未知放射性强度的环境监测具有重要的意义。当前，对核事故、核泄漏现场，核电站辐射等放射性环境多采用监测人员在防护情况下到现场监测，或是将大型监测设备加载与汽车等移动工具上进行监测。这些监测方式虽然有防护设备保护，但是效果并不佳，常会出现人员辐射超标，造成人员伤亡。With the development and utilization of nuclear energy and nuclear technology, nuclear radioactive sources are increasingly used in industrial, agricultural, medical, scientific research and education. However, with the continuous occurrence of nuclear pollution, the importance of monitoring the nuclear radiation environment has become increasingly prominent, and the public's awareness and attention to radiation protection is also growing. Many countries attach great importance to the monitoring of radiation environment, and have established a continuous monitoring system for radiation environment for early warning and accident monitoring of nuclear accidents. The monitoring data is an important basis for accident handling and appeasement of the masses. Wireless mobile data collection in nuclear radiation environments is of great importance for environmental monitoring of unknown radioactive intensity. At present, for radioactive environments such as nuclear accidents, nuclear leakage sites, and nuclear power plant radiation, monitoring personnel are often used to monitor the site in the case of protection, or to load large-scale monitoring equipment on mobile tools such as automobiles. Although these monitoring methods are protected by protective equipment, the effect is not good. People often have excessive radiation, causing casualties.
无人机是一种由无线电遥控设备或自身程序控制装置操纵的无人驾驶飞行器。无人机分为大型无人机和小型无人机，按其功能可以分为军用和民用两类。虽然现有技术中已有利用无人机来进行核辐射环境进行监测与定位，但是其仅仅能够通过无线通信、GPS定位等技术对已知放射源进行定位，而不适用于对未知放射源进行定位。因此，现有无人机无法利用无人机准确地找出并确定核辐射的未知放射源，从而不便于对核辐射放射源进行检修或隔离等措施。A drone is an unmanned aerial vehicle that is operated by a radio remote control device or its own program control device. UAVs are divided into large unmanned aerial vehicles and small unmanned aerial vehicles. According to their functions, they can be divided into military and civilian. Although the prior art has used drones for monitoring and locating the nuclear radiation environment, it can only locate known radioactive sources through wireless communication, GPS positioning, etc., and is not suitable for performing unknown radioactive sources. Positioning. Therefore, existing drones cannot use drones to accurately identify and determine unknown radioactive sources of nuclear radiation, thereby making it inconvenient to overhaul or isolate nuclear radiation sources.
实用新型内容Utility model content
本实用新型的主要目的在于提供一种用于定位核辐射放射源的无人机系统，旨在解决现有无人机无法准确地找出并确定核辐射区域内的未知放射源的问题。The main object of the present invention is to provide an unmanned aerial vehicle system for locating a nuclear radiation source, which aims to solve the problem that the existing drone cannot accurately find and determine an unknown radioactive source in the nuclear radiation region.
为实现上述目的，本实用新型提供了一种用于定位核辐射放射源的无人机系统，所述无人机系统包括无人机、设置在无人机底部的旋转云台，该旋转云台安装有核辐射定位装置，该核辐射定位装置包括处理单元、自主飞行单元、飞行控制单元、核辐射传感器以及定位单元，所述自主飞行单元、飞行控制单元、核辐射传感器和定位单元连接至所述处理单元，其中：To achieve the above object, the present invention provides an unmanned aerial vehicle system for positioning a nuclear radiation radiation source, the unmanned aerial vehicle system including a drone, a rotating cloud platform disposed at the bottom of the drone, and the rotating cloud The stage is equipped with a nuclear radiation positioning device, the nuclear radiation positioning device comprising a processing unit, an autonomous flight unit, a flight control unit, a nuclear radiation sensor and a positioning unit, the autonomous flight unit, the flight control unit, the nuclear radiation sensor and the positioning unit are connected to The processing unit, wherein:
所述自主飞行单元设定所述无人机飞抵核辐射区域的自主飞行路线；The autonomous flight unit sets an autonomous flight path of the drone to the nuclear radiation area;
所述飞行控制单元根据所述自主飞行路线控制所述无人机飞抵核辐射区域，并控制所述无人机悬停在核辐射区域的上空；The flight control unit controls the drone to fly to the nuclear radiation area according to the autonomous flight path, and controls the drone to hover over the nuclear radiation area;
所述核辐射传感器监测所述核辐射区域的核辐射信号，并将监测到的核辐射信号发送至所述处理单元；The nuclear radiation sensor monitors a nuclear radiation signal of the nuclear radiation region, and transmits the monitored nuclear radiation signal to the processing unit;
所述处理单元根据核辐射信号的信号强度及信号方向确定核辐射放射源的位置，并开启所述定位单元定位所述核辐射放射源的地理位置信息。The processing unit determines a position of the nuclear radiation source according to a signal intensity and a signal direction of the nuclear radiation signal, and turns on the positioning unit to locate the geographical location information of the nuclear radiation source.
优选的，所述无人机的两侧机翼上分别设置有一个太阳能透镜，每一个太阳能透镜下方设置有一块太阳能电池。Preferably, a solar lens is disposed on each of the wings of the drone, and a solar cell is disposed under each solar lens.
优选的，所述核辐射定位装置还包括一个连接至所述处理单元上的图像采集单元，该图像采集单元为一种360度全景摄像头或360度旋转摄像头，用于采集所述核辐射区域的全景影像画面。Preferably, the nuclear radiation positioning device further comprises an image acquisition unit connected to the processing unit, wherein the image acquisition unit is a 360-degree panoramic camera or a 360-degree rotating camera for collecting the nuclear radiation region. Panoramic image.
优选的，所述无人机的两侧机翼上分别设置有一个太阳能透镜，每一个太阳能透镜下方设置有一块太阳能电池。Preferably, a solar lens is disposed on each of the wings of the drone, and a solar cell is disposed under each solar lens.
优选的，所述核辐射定位装置还包括一个连接至所述处理单元上的通讯单元，该通讯单元用于将所述核辐射放射源的地理位置信息以及所述核辐射区域的全景影像画面发送至核辐射防控中心。Preferably, the nuclear radiation positioning device further comprises a communication unit connected to the processing unit, wherein the communication unit is configured to send geographical location information of the nuclear radiation source and a panoramic image of the nuclear radiation area. To the Nuclear Radiation Prevention and Control Center.
优选的，所述无人机的两侧机翼上分别设置有一个太阳能透镜，每一个太阳能透镜下方设置有一块太阳能电池。Preferably, a solar lens is disposed on each of the wings of the drone, and a solar cell is disposed under each solar lens.
优选的，所述旋转云台是一种由步进电机控制的旋转式云台，该旋转云台用于控制所述核辐射定位装置中的核辐射传感器进行360度转动来探测所述核辐射区域产生的核辐射信号。Preferably, the rotary pan/tilt head is a rotary pan/tilt head controlled by a stepping motor for controlling a nuclear radiation sensor in the nuclear radiation positioning device to perform 360-degree rotation to detect the nuclear radiation The nuclear radiation signal generated by the area.
优选的，所述无人机的两侧机翼上分别设置有一个太阳能透镜，每一个太阳能透镜下方设置有一块太阳能电池。Preferably, a solar lens is disposed on each of the wings of the drone, and a solar cell is disposed under each solar lens.
优选的，所述核辐射传感器包括一根两端用绝缘物质密闭的金属管，以及在所述金属管的轴线上安装有一根金属丝电极。Preferably, the nuclear radiation sensor comprises a metal tube sealed at both ends with an insulating material, and a wire electrode is mounted on the axis of the metal tube.
优选的，所述无人机的两侧机翼上分别设置有一个太阳能透镜，每一个太阳能透镜下方设置有一块太阳能电池。Preferably, a solar lens is disposed on each of the wings of the drone, and a solar cell is disposed under each solar lens.
优选的，所述金属管内充有稀薄气体，并在所述金属管壁和所述金属丝电极之间加上低于所述金属管内气体击穿压的电压。Preferably, the metal tube is filled with a rare gas, and a voltage lower than a gas breakdown voltage in the metal tube is applied between the metal tube wall and the wire electrode.
优选的，所述无人机的两侧机翼上分别设置有一个太阳能透镜，每一个太阳能透镜下方设置有一块太阳能电池。Preferably, a solar lens is disposed on each of the wings of the drone, and a solar cell is disposed under each solar lens.
优选的，所述太阳能透镜为一种菲涅尔透镜系统，用于聚集太阳光能。Preferably, the solar lens is a Fresnel lens system for collecting solar energy.
优选的，所述太阳能电池将所述太阳能透镜聚集的太阳光能转化成电能并为无人机的电动引擎供电。 Preferably, the solar cell converts solar energy concentrated by the solar lens into electrical energy and supplies power to the electric engine of the drone.
相较于现有技术，本实用新型所述用于定位核辐射放射源的无人机系统通过无人机搭载的核辐射传感器探测核辐射区域的核辐射信号来确定核辐射区域内的放射源位置，并通过定位单元精确定位出核辐射放射源的地理位置信息，从而使得核辐射防控中心能够精确找出探测核辐射区域的放射源，方便对核辐射区域内的放射源进行检修或采取隔离等措施。Compared with the prior art, the UAV system for positioning a nuclear radiation source according to the present invention detects a radioactive source in a nuclear radiation region by detecting a nuclear radiation signal of a nuclear radiation region by a nuclear radiation sensor mounted on the unmanned aerial vehicle. Positioning and accurately locating the geographical location information of the nuclear radiation source through the positioning unit, so that the nuclear radiation prevention and control center can accurately find the radiation source detecting the nuclear radiation area, and conveniently repair or take the radiation source in the nuclear radiation area. Measures such as isolation.
附图说明DRAWINGS
图1是本实用新型用于定位核辐射放射源的无人机系统优选实施例的结构示意图；1 is a schematic structural view of a preferred embodiment of an unmanned aerial vehicle system for positioning a nuclear radiation source according to the present invention;
图2是本实用新型用于定位核辐射放射源的无人机系统中核辐射定位装置优选实施例的内部结构示意图。2 is a schematic diagram showing the internal structure of a preferred embodiment of a nuclear radiation positioning device in an unmanned aerial vehicle system for positioning a nuclear radiation source according to the present invention.
本实用新型目的实现、功能特点及优点将结合实施例，参照附图做进一步说明。The object, function, and advantages of the present invention will be further described with reference to the accompanying drawings.
具体实施方式detailed description
为更进一步阐述本实用新型为达成上述目的所采取的技术手段及功效，以下结合附图及较佳实施例，对本实用新型的具体实施方式、结构、特征及其功效进行细说明。应当理解，此处所描述的具体实施例仅仅用以解释本实用新型，并不用于限定本实用新型。The specific embodiments, structures, features and functions of the present invention are described in detail below with reference to the accompanying drawings and preferred embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
如图1所示，图1是本实用新型用于定位核辐射放射源的无人机系统优选实施例的结构示意图。在本实施例中，所述无人机系统1包括，但不仅限于，无人机10以及设置在无人机10底部的旋转云台30，该旋转云台30中安装有核辐射定位装置20。所述旋转云台30为一种由步进电机控制的旋转式云台，用于控制所述核辐射定位装置20进行360度转动来监测核辐射区域中的核辐射信号，以便确定核辐射区域中放射源的具体位置。所述的无人机10是一种由无线电遥控设备或自身程序控制装置操纵的小型无人驾驶飞行器，例如无人固定翼机、无人多旋翼飞行器、无人飞艇、无人伞翼机等小型无人飞行器。As shown in FIG. 1, FIG. 1 is a schematic structural view of a preferred embodiment of an unmanned aerial vehicle system for positioning a nuclear radiation source according to the present invention. In the present embodiment, the UAV system 1 includes, but is not limited to, a drone 10 and a rotating head 30 disposed at the bottom of the drone 10, in which the nuclear radiation positioning device 20 is mounted. . The rotating pan/tilt head 30 is a rotary pan/tilt head controlled by a stepping motor for controlling the nuclear radiation positioning device 20 to perform 360-degree rotation to monitor a nuclear radiation signal in a nuclear radiation region to determine a nuclear radiation region. The specific location of the source. The UAV 10 is a small unmanned aerial vehicle operated by a radio remote control device or a self-program control device, such as an unmanned fixed-wing aircraft, an unmanned multi-rotor aircraft, an unmanned airship, an unmanned paraplane, etc. Small unmanned aerial vehicle.
在本实施例中，所述无人机10的两侧机翼上分别设置有一个太阳能透镜40，每一个太阳能透镜40下方设置有一块太阳能电池50，所述太阳能透镜40可以为一种菲涅尔透镜系统，用于聚集太阳光能。所述太阳能电池50将太阳光能转化为电能并持续为所述无人机10的电动引擎供电，可以满足该无人机10远距离飞行的要求。In this embodiment, a solar lens 40 is disposed on each of the wings of the drone 10, and a solar cell 50 is disposed under each solar lens 40. The solar lens 40 may be a Fresnel. Lens system for collecting solar energy. The solar cell 50 converts solar energy into electrical energy and continuously supplies power to the electric engine of the drone 10, which can meet the requirements of the drone 10 for long-distance flight.
如图2所示，图2是本实用新型用于定位核辐射放射源的无人机系统中的核辐射定位装置20优选实施例的内部结构示意图。在本实施例中，所述核辐射定位装置20包括，但不仅限于，处理单元200、自主飞行单元201、飞行控制单元202、核辐射传感器203、定位单元204、图像采集单元205以及通讯单元206。所述自主飞行单元201、飞行控制单元202、核辐射传感器203、定位单元204、图像采集单元205和通讯单元206均连接至处理单元201。As shown in FIG. 2, FIG. 2 is a schematic diagram showing the internal structure of a preferred embodiment of the nuclear radiation locating device 20 in the unmanned aerial vehicle system for positioning a nuclear radiation source according to the present invention. In this embodiment, the nuclear radiation positioning device 20 includes, but is not limited to, the processing unit 200, the autonomous flight unit 201, the flight control unit 202, the nuclear radiation sensor 203, the positioning unit 204, the image acquisition unit 205, and the communication unit 206. . The autonomous flight unit 201, the flight control unit 202, the nuclear radiation sensor 203, the positioning unit 204, the image acquisition unit 205, and the communication unit 206 are all connected to the processing unit 201.
所述处理单元200是一种微处理器、数据处理芯片、或者具有数据处理功能的微控制器（MCU）等。所述处理单元200能够根据所述核辐射传感器203感测的核辐射信号确定核辐射区域内的核辐射放射源。The processing unit 200 is a microprocessor, a data processing chip, or a microcontroller (MCU) having a data processing function. The processing unit 200 is capable of determining a nuclear radiation source within the nuclear radiation region based on the nuclear radiation signal sensed by the nuclear radiation sensor 203.
所述自主飞行单元201用于设定所述无人机10飞抵核辐射区域的自主飞行路线。该自主飞行单元201的数据接口与北斗导航系统接口连接，能够快速导入无人机10飞抵核辐射区域的导航地图信息。The autonomous flight unit 201 is configured to set an autonomous flight path of the drone 10 to fly to a nuclear radiation area. The data interface of the autonomous flight unit 201 is interfaced with the Beidou navigation system, and can quickly import the navigation map information of the drone 10 flying into the nuclear radiation area.
所述飞行控制单元202根据所述自主飞行路线控制所述无人机10飞抵核辐射区域，并控制无人机10悬停在核辐射区域的上空。The flight control unit 202 controls the drone 10 to fly to the nuclear radiation area according to the autonomous flight path, and controls the drone 10 to hover over the nuclear radiation area.
所述核辐射传感器203监测核辐射区域的核辐射信号，并将监测到的核辐射信号发送至所述处理单元200。在本实施例中，所述核辐射传感器203可探测核辐射高速粒子射线，包括α、β、γ射线。所述核辐射传感器203包括一根两端用绝缘物质密闭的金属管，以及在沿金属管的轴线上安装有一根金属丝电极，该金属管内充有稀薄气体（通常是氦、氖、氩等），并在金属管壁和金属丝电极之间加上低于金属管内气体击穿压的电压。在通常状态下，金属管内气体不放电；当有核辐射高速粒子射线射入管内时，核辐射高速粒子射线的能量使管内气体电离导电，在金属丝电极与金属管壁之间产生迅速的气体放电现象，从而输出一个脉冲电流的核辐射信号。The nuclear radiation sensor 203 monitors a nuclear radiation signal of a nuclear radiation region and transmits the monitored nuclear radiation signal to the processing unit 200. In this embodiment, the nuclear radiation sensor 203 can detect high-speed particle radiation of nuclear radiation, including alpha, beta, and gamma rays. The nuclear radiation sensor 203 includes a metal tube sealed at both ends with an insulating material, and a wire electrode mounted on the axis of the metal tube, the metal tube being filled with a thin gas (usually helium, neon, argon, etc.) And, a voltage lower than the gas breakdown voltage in the metal tube is applied between the metal tube wall and the wire electrode. Under normal conditions, the gas in the metal tube is not discharged; when the high-speed particle beam of nuclear radiation is injected into the tube, the energy of the high-speed particle beam radiating from the nuclear ion ionizes the gas in the tube, generating a rapid gas between the wire electrode and the metal tube wall. A discharge phenomenon that outputs a nuclear radiation signal of a pulse current.
所述处理单元200根据核辐射信号的信号强度及信号方向确定核辐射放射源的位置，并开启定位单元204精确定位出核辐射放射源的地理位置信息，包括纬度信息和经度信息，从而精确定位出核辐射放射源。所述定位单元204是一种北斗定位单元或其它具有定位功能的芯片，能够精确定位核辐射放射源的地理位置信息。The processing unit 200 determines the position of the nuclear radiation source according to the signal intensity and the signal direction of the nuclear radiation signal, and turns on the positioning unit 204 to accurately locate the geographical position information of the nuclear radiation source, including the latitude information and the longitude information, thereby accurately positioning Nuclear radiation source. The positioning unit 204 is a Beidou positioning unit or other chip with a positioning function, which can accurately locate the geographical location information of the nuclear radiation source.
所述图像采集单元205为一种360度全景摄像头或360度旋转摄像头，用于采集核辐射区域的全景影像画面。所述通讯单元206为一种具有远程无线通讯功能的无线通讯接口，例如支持GSM、GPRS、CDMA以及WiMAX等通讯技术的通讯接口，能够与所述核辐射防控中心的北斗导航系统进行无线通讯。所述通讯单元206将核辐射放射源的地理位置信息以及核辐射区域的全景影像画面发送至核辐射防控中心进行核辐射预警，以便核辐射防控中心对核辐射区域内的核辐射放射源进行检修或采取隔离等措施。The image acquisition unit 205 is a 360-degree panoramic camera or a 360-degree rotating camera for acquiring a panoramic image frame of a nuclear radiation area. The communication unit 206 is a wireless communication interface with remote wireless communication functions, for example, a communication interface supporting communication technologies such as GSM, GPRS, CDMA, and WiMAX, and capable of wirelessly communicating with the Beidou navigation system of the nuclear radiation prevention and control center. . The communication unit 206 sends the geographic location information of the nuclear radiation source and the panoramic image of the nuclear radiation area to the nuclear radiation prevention and control center for nuclear radiation warning, so that the nuclear radiation prevention and control center can emit the nuclear radiation source in the nuclear radiation area. Take measures such as overhaul or isolation.
在使用本实用新型所述的用于定位核辐射放射源的无人机系统时，在所述无人机10上安装好旋转云台30以及核辐射定位装置20。所述飞无人机10按照既定的自主飞行路线飞抵核辐射区域，并悬停在核辐射区域的上空。该无人机10依据搭载的核辐射传感器203和定位单元204（GPS定位单元或北斗定位单元）对核辐射区域进行巡视，所述核辐射传感器203处于持续工作状态以便探测核辐射区域的核辐射信号，并根据所述核辐射信号的信号强度及信号方向确定核辐射放射源的位置。所述定位单元204精确定位出所述核辐射放射源的地理位置信息。同时，所述处理单元201通过通讯单元206将核辐射放射源的地理位置信息反馈至核辐射防控中心，使得核辐射防控中心精确地找出核辐射区域内的未知放射源，以便对核辐射区域内的放射源进行检修或采取隔离等措施。When the UAV system for positioning a nuclear radiation source according to the present invention is used, the rotating head 30 and the nuclear radiation positioning device 20 are mounted on the UAV 10. The flying drone 10 flies to the nuclear radiation area according to the established autonomous flight path and hovering over the nuclear radiation area. The UAV 10 patrols the nuclear radiation area according to the mounted nuclear radiation sensor 203 and the positioning unit 204 (GPS positioning unit or Beidou positioning unit), and the nuclear radiation sensor 203 is in a continuous working state to detect nuclear radiation in the nuclear radiation area. Signaling, and determining the location of the nuclear radiation source based on the signal strength of the nuclear radiation signal and the direction of the signal. The positioning unit 204 accurately locates the geographical location information of the nuclear radiation source. At the same time, the processing unit 201 feeds back the geographical location information of the nuclear radiation source to the nuclear radiation prevention and control center through the communication unit 206, so that the nuclear radiation prevention and control center accurately finds the unknown radiation source in the nuclear radiation area, so as to Measures such as maintenance or isolation of radioactive sources in the radiation area.
以上仅为本实用新型的优选实施例，并非因此限制本实用新型的专利范围，凡是利用本实用新型说明书及附图内容所作的等效结构或等效功能变换，或直接或间接运用在其他相关的技术领域，均同理包括在本实用新型的专利保护范围内。The above is only a preferred embodiment of the present invention, and is not intended to limit the scope of the patents of the present invention. Any equivalent structure or equivalent function transformation made by the description of the present invention and the contents of the drawings may be directly or indirectly applied to other related The technical fields are all included in the scope of patent protection of the present invention.
Claims (14)
- 一种用于定位核辐射放射源的无人机系统，其特征在于，所述无人机系统包括无人机、设置在无人机底部的旋转云台，该旋转云台安装有核辐射定位装置，该核辐射定位装置包括处理单元、自主飞行单元、飞行控制单元、核辐射传感器以及定位单元，所述自主飞行单元、飞行控制单元、核辐射传感器和定位单元连接至所述处理单元，其中： An unmanned aerial vehicle system for locating a nuclear radiation source, characterized in that the UAV system comprises a drone, a rotating cloud platform disposed at the bottom of the drone, and the rotating cloud platform is equipped with nuclear radiation positioning a device, the nuclear radiation positioning device comprising a processing unit, an autonomous flight unit, a flight control unit, a nuclear radiation sensor, and a positioning unit, wherein the autonomous flight unit, the flight control unit, the nuclear radiation sensor, and the positioning unit are coupled to the processing unit, wherein :所述自主飞行单元设定所述无人机飞抵核辐射区域的自主飞行路线；The autonomous flight unit sets an autonomous flight path of the drone to the nuclear radiation area;所述飞行控制单元根据所述自主飞行路线控制所述无人机飞抵核辐射区域，并控制所述无人机悬停在核辐射区域的上空；The flight control unit controls the drone to fly to the nuclear radiation area according to the autonomous flight path, and controls the drone to hover over the nuclear radiation area;所述核辐射传感器监测所述核辐射区域的核辐射信号，并将监测到的核辐射信号发送至所述处理单元；The nuclear radiation sensor monitors a nuclear radiation signal of the nuclear radiation region, and transmits the monitored nuclear radiation signal to the processing unit;所述处理单元根据核辐射信号的信号强度及信号方向确定核辐射放射源的位置，并开启所述定位单元定位所述核辐射放射源的地理位置信息。 The processing unit determines a position of the nuclear radiation source according to a signal intensity and a signal direction of the nuclear radiation signal, and turns on the positioning unit to locate the geographical location information of the nuclear radiation source.
- 如权利要求1所述的用于定位核辐射放射源的无人机系统，其特征在于，所述无人机的两侧机翼上分别设置有一个太阳能透镜，每一个太阳能透镜下方设置有一块太阳能电池。The UAV system for locating a nuclear radiation source according to claim 1, wherein a solar lens is disposed on each of the wings of the drone, and a solar lens is disposed under each of the solar lenses. Solar battery.
- 如权利要求1所述的用于定位核辐射放射源的无人机系统，其特征在于，所述核辐射定位装置还包括一个连接至所述处理单元上的图像采集单元，该图像采集单元为一种360度全景摄像头或360度旋转摄像头，用于采集所述核辐射区域的全景影像画面。The UAV system for locating a nuclear radiation source according to claim 1, wherein said nuclear radiation positioning device further comprises an image acquisition unit connected to said processing unit, said image acquisition unit being A 360 degree panoramic camera or a 360 degree rotating camera for acquiring a panoramic image of the nuclear radiation area.
- 如权利要求3所述的用于定位核辐射放射源的无人机系统，其特征在于，所述无人机的两侧机翼上分别设置有一个太阳能透镜，每一个太阳能透镜下方设置有一块太阳能电池。The UAV system for locating a nuclear radiation source according to claim 3, wherein a solar lens is disposed on each of the wings of the drone, and a solar lens is disposed under each of the solar lenses. Solar battery.
- 如权利要求3所述的用于定位核辐射放射源的无人机系统，其特征在于，所述核辐射定位装置还包括一个连接至所述处理单元上的通讯单元，该通讯单元用于将所述核辐射放射源的地理位置信息以及所述核辐射区域的全景影像画面发送至核辐射防控中心。The UAV system for locating a nuclear radiation source according to claim 3, wherein said nuclear radiation locating device further comprises a communication unit coupled to said processing unit, said communication unit for The geographic location information of the nuclear radiation source and the panoramic image of the nuclear radiation region are transmitted to the nuclear radiation prevention and control center.
- 如权利要求5所述的用于定位核辐射放射源的无人机系统，其特征在于，所述无人机的两侧机翼上分别设置有一个太阳能透镜，每一个太阳能透镜下方设置有一块太阳能电池。The UAV system for locating a nuclear radiation source according to claim 5, wherein a solar lens is disposed on each of the wings of the drone, and a solar lens is disposed under each of the solar lenses. Solar battery.
- 如权利要求1所述的用于定位核辐射放射源的无人机系统，其特征在于，所述旋转云台是一种由步进电机控制的旋转式云台，该旋转云台用于控制所述核辐射定位装置中的核辐射传感器进行360度转动来探测所述核辐射区域产生的核辐射信号。The unmanned aerial vehicle system for positioning a nuclear radiation source according to claim 1, wherein the rotary pan/tilt is a rotary pan/tilt controlled by a stepping motor, and the rotary pan/tilt is used for control The nuclear radiation sensor in the nuclear radiation positioning device performs 360-degree rotation to detect a nuclear radiation signal generated by the nuclear radiation region.
- 如权利要求7所述的用于定位核辐射放射源的无人机系统，其特征在于，所述无人机的两侧机翼上分别设置有一个太阳能透镜，每一个太阳能透镜下方设置有一块太阳能电池。The UAV system for locating a nuclear radiation source according to claim 7, wherein a solar lens is disposed on each of the wings of the drone, and a solar lens is disposed under each of the solar lenses. Solar battery.
- 如权利要求1所述的用于定位核辐射放射源的无人机系统，其特征在于，所述核辐射传感器包括一根两端用绝缘物质密闭的金属管，以及在所述金属管的轴线上安装有一根金属丝电极。The UAV system for locating a nuclear radiation source according to claim 1, wherein said nuclear radiation sensor comprises a metal tube sealed at both ends with an insulating material, and an axis of said metal tube A wire electrode is mounted on it.
- 如权利要求9所述的用于定位核辐射放射源的无人机系统，其特征在于，所述无人机的两侧机翼上分别设置有一个太阳能透镜，每一个太阳能透镜下方设置有一块太阳能电池。The UAV system for locating a nuclear radiation source according to claim 9, wherein a solar lens is disposed on each of the wings of the drone, and a solar lens is disposed under each of the solar lenses. Solar battery.
- 如权利要求9所述的用于定位核辐射放射源的无人机系统，其特征在于，所述金属管内充有稀薄气体，并在所述金属管壁和所述金属丝电极之间加上低于所述金属管内气体击穿压的电压。An unmanned aerial vehicle system for locating a nuclear radiation source according to claim 9, wherein said metal tube is filled with a thin gas and is applied between said metal tube wall and said wire electrode A voltage lower than the gas breakdown pressure in the metal tube.
- 如权利要求11所述的用于定位核辐射放射源的无人机系统，其特征在于，所述无人机的两侧机翼上分别设置有一个太阳能透镜，每一个太阳能透镜下方设置有一块太阳能电池。The UAV system for locating a nuclear radiation source according to claim 11, wherein a solar lens is disposed on each of the wings of the drone, and a solar lens is disposed under each of the solar lenses. Solar battery.
- 如权利要求12所述的用于定位核辐射放射源的无人机系统，其特征在于，所述太阳能透镜为一种菲涅尔透镜系统，用于聚集太阳光能。The UAV system for locating a nuclear radiation source according to claim 12, wherein said solar lens is a Fresnel lens system for collecting solar energy.
- 如权利要求13所述的用于定位核辐射放射源的无人机系统，其特征在于，所述太阳能电池将所述太阳能透镜聚集的太阳光能转化成电能并为无人机的电动引擎供电。The UAV system for locating a nuclear radiation source according to claim 13, wherein said solar cell converts solar energy concentrated by said solar lens into electrical energy and supplies power to an electric motor of the drone .
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| CN110427048B (en) * | 2019-08-20 | 2022-06-14 | 山东太樾生物技术有限公司 | Novel chemical agilawood growth promoting device |
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| CN205120973U (en) | 2016-03-30 |
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